CN109262657A - A kind of six axis Zero calibration system and method for welding robot - Google Patents
A kind of six axis Zero calibration system and method for welding robot Download PDFInfo
- Publication number
- CN109262657A CN109262657A CN201811485826.6A CN201811485826A CN109262657A CN 109262657 A CN109262657 A CN 109262657A CN 201811485826 A CN201811485826 A CN 201811485826A CN 109262657 A CN109262657 A CN 109262657A
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- connecting rod
- digital display
- degree
- axis
- pedestal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of six axis Zero calibration system and method for welding robot, system includes pedestal, and first connecting rod, first end and the pedestal are hinged；Second connecting rod, first end and the second end of the first connecting rod are hinged；Third connecting rod, first end and the second end of the second connecting rod are hinged；First digital display inclinometer is fixed on the second connecting rod, and its datum clamp face is parallel with the hinge joint of the connecting rod two end；Fourth link, first end and the second end of the third connecting rod are hinged；Second digital display inclinometer is fixed in the fourth link；Third digital display inclinometer is fixed on second digital display inclinometer, and the datum clamp face of its datum clamp face and second digital display inclinometer is perpendicular.The beneficial effects of the present invention are: the Zero calibration of six-shaft industrial robot can be completed using the first digital display inclinometer, the second digital display inclinometer and third digital display inclinometer, the processing request to robotic part is reduced.
Description
Technical field
The present invention relates to calibration technique field, in particular to a kind of six axis Zero calibration system and method for welding robot.
Background technique
Level meter+datum level formula is used during six axis Zero calibration of welding robot, is needed in each joint pair
Null positions pin hole processing, V-groove or the datum level answered, the robot of six axis need to process 6 sets of datum level, this is to part
Machining accuracy puts forward higher requirement, and requires the assembly precision of robot also harsher；Meanwhile in calibration process
One axis of middle needs, an axis are sequentially demarcated, and process is cumbersome.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of six axis Zero calibration system and method for welding robot, with
It overcomes the deficiencies in the prior art described above.
The technical scheme to solve the above technical problems is that
A kind of six axis Zero calibration system of welding robot, including pedestal,
First connecting rod, first end and the pedestal are hinged, can be rotated centered on Z axis relative to the pedestal；
Second connecting rod, first end and the second end of the first connecting rod are hinged, with can relative to the first connecting rod
It is rotated centered on Y-axis；
Third connecting rod, first end and the second end of the second connecting rod are hinged, with can relative to the second connecting rod
It is rotated centered on Y-axis；
First digital display inclinometer is fixed on the second connecting rod, and its datum clamp face and the connecting rod two end
Hinge joint is parallel；It is whether parallel with Z axis to detect its datum clamp face；
Fourth link, first end and the second end of the third connecting rod are hinged, with can relative to the third connecting rod
It is rotated centered on X-axis；
Second digital display inclinometer is fixed in the fourth link；It is whether flat with X-axis to detect its datum clamp face
Row；
Third digital display inclinometer is fixed on second digital display inclinometer, and its datum clamp face and described second
Whether the datum clamp face of digital display inclinometer is perpendicular, parallel with Y-axis to detect its datum clamp face.
Further, the bottom surrounding of pedestal is equipped with universal wheel.
The beneficial effect of above-mentioned further scheme is: facilitating the transfer of calibration system.
Further, the bottom surrounding of pedestal is equipped with footed glass, footed glass includes screw rod and chassis, upper end and the pedestal spiral shell of screw rod
Line connection, the lower end of screw rod is fixedly connected with chassis.
The beneficial effect of above-mentioned further scheme is: it is easy to remove in place after calibration system steady fixation, and can
Adjustment pedestal is at level.
A kind of six axis Zero calibration method of welding robot, comprising the following steps:
Step 1: first connecting rod being respectively relative to pedestal and rotates 0 degree, 90 degree, 180 degree, 270 degree, after stabilization, records the
The display data of one digital display inclinometer；
Step 2: adjustment pedestal, and repeat first digital display of the step 1 when 0 degree, 90 degree, 180 degree, 270 degree of positions and incline
The reading data of angle instrument are identical, then robot base level has been adjusted；
Step 3: second connecting rod being rotated relative to first connecting rod, until the display data of the first digital display inclinometer are 90
Degree, second connecting rod has been adjusted at this time；
Step 4: fourth link is rotated 1 degree relative to third connecting rod difference forward and reverse, after stablizing, the second number of record
The display data of aobvious inclinator；
Step 5: third connecting rod being rotated by a small margin relative to second connecting rod, and repeats step 4 until forward and reverse revolves
Turn 1 degree of position when the second digital display inclinometer display data it is identical, then third connecting rod has been adjusted；
Step 6: fine tuning fourth link, until the display data of third digital display inclinometer are 0 degree, then fourth link has adjusted
It is good.
The beneficial effects of the present invention are: utilizing the first digital display inclinometer, the second digital display inclinometer and third digital display inclinometer
The Zero calibration that can complete six-shaft industrial robot reduces the processing request to robotic part；Use digital display inclination angle
Instrument saves the nominal time, and so that cumbersome Robot calibration is worked becomes easier.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of six axis Zero calibration system of welding robot of the present invention.
In figure: 1 being pedestal, 11 be universal wheel, 12 be footed glass, 121 be screw rod, 122 be chassis, 2 be first connecting rod, 3 be
Second connecting rod, 4 be third connecting rod, 5 be the first digital display inclinometer, 6 be fourth link, 7 be the second digital display inclinometer, 8 be third
Digital display inclinometer.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of six axis Zero calibration system of welding robot of the embodiment of the present invention 1, including pedestal 1,
First connecting rod 2, first end and the pedestal 1 are hinged, can be turned centered on Z axis relative to the pedestal 1
It is dynamic；
Second connecting rod 3, first end and the second end of the first connecting rod 2 are hinged, relative to 2 energy of first connecting rod
It is enough to be rotated centered on Y-axis；
Third connecting rod 4, first end and the second end of the second connecting rod 3 are hinged, relative to 3 energy of second connecting rod
It is enough to be rotated centered on Y-axis；
First digital display inclinometer 5 is fixed on the second connecting rod 3, and its datum clamp face and the connecting rod two end
Hinge joint it is parallel；It is whether parallel with Z axis to detect its datum clamp face；
Fourth link 6, first end and the second end of the third connecting rod 4 are hinged, relative to 4 energy of third connecting rod
It is enough to be rotated centered on X-axis；
Second digital display inclinometer 7 is fixed in the fourth link 6；It is whether flat with X-axis to detect its datum clamp face
Row；
Third digital display inclinometer 8 is fixed on second digital display inclinometer 7, and its datum clamp face and described the
Whether the datum clamp face of two digital display inclinometers 7 is perpendicular, parallel with Y-axis to detect its datum clamp face.
A kind of six axis Zero calibration system of welding robot of the embodiment of the present invention 2, on the basis of embodiment 1, pedestal 1
Bottom surrounding is equipped with universal wheel 11.
Facilitate the transfer of calibration system.
A kind of six axis Zero calibration system of welding robot of the embodiment of the present invention 3, on the basis of embodiment 2, pedestal 1
Bottom surrounding is equipped with footed glass 12, and footed glass 12 includes screw rod 121 and chassis 122, and the upper end of screw rod 121 is threadedly coupled with pedestal 1,
The lower end of screw rod 121 is fixedly connected with chassis 122.
It is easy to remove in place after calibration system steady fixation, and pedestal 1 can be adjusted and be at level.
A kind of six axis Zero calibration method of welding robot of the embodiment of the present invention 4, comprising the following steps:
Step 1: first connecting rod 2 is respectively relative to pedestal 1 and rotates 0 degree, 90 degree, 180 degree, 270 degree, after stablizing, record
The display data of first digital display inclinometer 5；
Step 2: adjustment pedestal 1, and repeat first digital display of the step 1 when 0 degree, 90 degree, 180 degree, 270 degree of positions and incline
The reading data of angle instrument 5 are identical, then robot base 1 is horizontal has adjusted；
Step 3: second connecting rod 3 being rotated relative to first connecting rod 2, until the display data of the first digital display inclinometer 5 are
90 degree, second connecting rod 3 has been adjusted at this time；
Step 4: fourth link 6 is distinguished into forward and reverse relative to third connecting rod 4 and rotates 1 degree, after stablizing, record second
The display data of digital display inclinometer 7；
Step 5: third connecting rod 4 being rotated by a small margin relative to second connecting rod 3, and repeats step 4 until forward and reverse
The display data of the second digital display inclinometer 7 when 1 degree of position of rotation are identical, then third connecting rod 4 has been adjusted；
Step 6: fine tuning fourth link 6, until the display data of third digital display inclinometer 8 are 0 degree, then fourth link 6 has been
It adjusts.
The present invention can be completed using the first digital display inclinometer 5, the second digital display inclinometer 7 and third digital display inclinometer 8
The Zero calibration of six-shaft industrial robot reduces the processing request to robotic part；Mark is saved using digital display inclinometer
It fixes time, so that cumbersome Robot calibration is worked becomes easier.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of six axis Zero calibration system of welding robot, it is characterised in that: including pedestal (1),
First connecting rod (2), first end and the pedestal (1) hingedly, by can be centered on Z axis relative to the pedestal (1)
Rotation；
Second connecting rod (3), first end and the second end of the first connecting rod (2) are hinged, relative to the first connecting rod (2)
It can be rotated centered on Y-axis；
Third connecting rod (4), first end and the second end of the second connecting rod (3) are hinged, relative to the second connecting rod (3)
It can be rotated centered on Y-axis；
First digital display inclinometer (5) is fixed on the second connecting rod (3), and its datum clamp face and the connecting rod two end
Hinge joint it is parallel；It is whether parallel with Z axis to detect its datum clamp face；
Fourth link (6), first end and the second end of the third connecting rod (4) are hinged, relative to the third connecting rod (4)
It can be rotated centered on X-axis；
Second digital display inclinometer (7) is fixed on the fourth link (6)；It is whether flat with X-axis to detect its datum clamp face
Row；
Third digital display inclinometer (8) is fixed on second digital display inclinometer (7), and its datum clamp face and described the
Whether the datum clamp face of two digital display inclinometers (7) is perpendicular, parallel with Y-axis to detect its datum clamp face.
2. a kind of six axis Zero calibration system of welding robot according to claim 1, it is characterised in that: the bottom of pedestal (1)
Portion's surrounding is equipped with universal wheel (11).
3. a kind of six axis Zero calibration system of welding robot according to claim 2, it is characterised in that: the bottom of pedestal (1)
Portion's surrounding is equipped with footed glass (12), and the footed glass (12) includes screw rod (121) and chassis (122), the upper end of the screw rod (121)
It is threadedly coupled with the pedestal (1), the lower end of the screw rod (121) is fixedly connected with the chassis (122).
4. a kind of six axis Zero calibration method of welding robot, it is characterised in that: the following steps are included:
Step 1: first connecting rod (2) is respectively relative to pedestal (1) and rotates 0 degree, 90 degree, 180 degree, 270 degree, after stablizing, record
The display data of first digital display inclinometer (5)；
Step 2: adjustment pedestal (1), and repeat first digital display inclination angle of the step 1 when 0 degree, 90 degree, 180 degree, 270 degree of positions
The reading data of instrument (5) are identical, then robot base (1) is horizontal has adjusted；
Step 3: second connecting rod (3) being rotated relative to first connecting rod (2), until the display data of the first digital display inclinometer (5)
It is 90 degree, second connecting rod (3) has been adjusted at this time；
Step 4: by fourth link (6), relative to third connecting rod (4), forward and reverse rotates 1 degree respectively, after stablizing, record second
The display data of digital display inclinometer (7)；
Step 5: third connecting rod (4) being rotated by a small margin relative to second connecting rod (3), and repeats step 4 until forward and reverse
The display data of the second digital display inclinometer (7) when 1 degree of position of rotation are identical, then third connecting rod (4) has been adjusted；
Step 6: fine tuning fourth link (6), until the display data of third digital display inclinometer (8) are 0 degree, then fourth link (6)
It has adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485826.6A CN109262657A (en) | 2018-12-06 | 2018-12-06 | A kind of six axis Zero calibration system and method for welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485826.6A CN109262657A (en) | 2018-12-06 | 2018-12-06 | A kind of six axis Zero calibration system and method for welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN109262657A true CN109262657A (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811485826.6A Pending CN109262657A (en) | 2018-12-06 | 2018-12-06 | A kind of six axis Zero calibration system and method for welding robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267108A (en) * | 2020-03-23 | 2020-06-12 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN114161418A (en) * | 2021-12-13 | 2022-03-11 | 库卡机器人制造（上海）有限公司 | Method and device for calibrating tool coordinates of robot, robot and storage medium |
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| US6418774B1 (en) * | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| CN103395073A (en) * | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| CN103659806A (en) * | 2012-09-06 | 2014-03-26 | 沈阳新松机器人自动化股份有限公司 | Industrial robot zero position defining method |
| CN103659804A (en) * | 2012-08-31 | 2014-03-26 | 日本电产三协株式会社 | Vertical articulated robot and reference position positioning method thereof |
| CN105196311A (en) * | 2015-10-21 | 2015-12-30 | 国机集团科学技术研究院有限公司 | Quick zero point calibration method for six-axis robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6418774B1 (en) * | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| CN103659804A (en) * | 2012-08-31 | 2014-03-26 | 日本电产三协株式会社 | Vertical articulated robot and reference position positioning method thereof |
| CN103659806A (en) * | 2012-09-06 | 2014-03-26 | 沈阳新松机器人自动化股份有限公司 | Industrial robot zero position defining method |
| CN103395073A (en) * | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| CN105196311A (en) * | 2015-10-21 | 2015-12-30 | 国机集团科学技术研究院有限公司 | Quick zero point calibration method for six-axis robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267108A (en) * | 2020-03-23 | 2020-06-12 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN111267108B (en) * | 2020-03-23 | 2021-12-17 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN114161418A (en) * | 2021-12-13 | 2022-03-11 | 库卡机器人制造（上海）有限公司 | Method and device for calibrating tool coordinates of robot, robot and storage medium |
| CN114161418B (en) * | 2021-12-13 | 2023-10-24 | 库卡机器人制造（上海）有限公司 | Calibration method and device for tool coordinates of robot, robot and storage medium |
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Application publication date: 20190125 |